EP3768622B1 - Machine and method for positioning objects - Google Patents

Machine and method for positioning objects Download PDF

Info

Publication number
EP3768622B1
EP3768622B1 EP19705929.8A EP19705929A EP3768622B1 EP 3768622 B1 EP3768622 B1 EP 3768622B1 EP 19705929 A EP19705929 A EP 19705929A EP 3768622 B1 EP3768622 B1 EP 3768622B1
Authority
EP
European Patent Office
Prior art keywords
transfer
conveyor belt
objects
carriers
conveyor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19705929.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3768622A1 (en
Inventor
Fernando MARTÍNEZ MÉNDEZ
Tomás MULET VALLÉS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Packfeeder SL
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=65494096&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3768622(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Individual filed Critical Individual
Publication of EP3768622A1 publication Critical patent/EP3768622A1/en
Application granted granted Critical
Publication of EP3768622B1 publication Critical patent/EP3768622B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention relates to a machine and a method for positioning, by means of robotic handling, objects of different shapes and sizes, such as packaging, jars, bottles, industrial parts and components, etc., which need to be placed in a certain position, especially in a vertical and/or upright position, for the subsequent handling and/or industrial processing thereof, such as being packaged, packed, assembled, labelled, etc.
  • the fundamental concept consists of distributing the objects in a disorderly (random) manner on a conveyor belt, the advancing of which makes said objects pass beneath a machine vision camera such that the shape and position thereof are identified.
  • the coordinates of said objects are sent to one or more robots, which dynamically go to search for said objects in movement, collecting them from the conveyor belt, whether by suction or grabbing them, in order to subsequently move them to the delivery area.
  • the objects collected by the robots are deposited directly on a second conveyor belt in an ordered manner and in a specific position. Said second conveyor belt facilitates the outlet thereof from the machine to lead them to the following process.
  • Document WO2014/064593A1 shows an example of these types of machines and methods for positioning objects.
  • bin picking consisting of the ability to collect an element directly from a container or bin where it is heaped/unordered, by means of the use of 3D machine vision. In this manner, a portion of the process is eliminated along with the associated cost thereof, even though the speed with which the robot can act is penalised.
  • This aspect is precisely the one that currently limits the use of robots, especially for handling light and unstable elements. Meaning, even though the robot is very fast, in the end, in the process of delivering to the conveyor belt, it cannot just drop the object, but rather it must accompany it for a time on the conveyor belt until it matches the speed thereof, such that upon dropping the object inertia is not produced which would cause imbalance in said object, making it fall.
  • Document US2012/330457A1 discloses a machine for positioning objects, comprising a first conveyor belt configured to receive a plurality of objects; machine vision means configured to identify the position and the shape of the objects arranged on the first conveyor belt; robotic collection means configured to collect the objects from the first conveyor belt according to the information received from the machine vision means; a second conveyor belt configured to enable the outlet of said objects; and a transfer conveyor that has a plurality of transfer carriers configured to move in a closed loop through it enabling the speed and position thereof to be controlled, wherein said transfer carriers are configured to receive the objects coming from the robotic collection means and deliver said objects to the second conveyor belt; wherein the transfer carriers are configured to receive the objects coming from the robotic collection means in a horizontal position and deliver said objects to the second conveyor belt in a vertical position; wherein the transfer conveyor is arranged in a vertical position between the first conveyor belt and the second conveyor belt.
  • Said document further discloses a corresponding method for positioning objects.
  • the machine for positioning objects of the present invention as defined in claim 1 resolves the previously explained problems in robotic applications, thanks to a simplified and compact technical solution that enables the positioning of the objects without needing to accompany them with the robot that collects them from the random position thereof. With this the maximum transfer speed is considerably increased.
  • the machine and the method for positioning objects of the present invention enables a greater diversity of objects to be positioned at a faster speed than the current robotic applications.
  • the machine for positioning objects of claim 1 comprises, amongst others:
  • the arrangement of the objects on the first conveyor belt is random, especially when plastic packaging or other light objects are handled.
  • the objects can also be arranged on the first conveyor belt in an orderly manner, for example, supplied in pallets for carrying objects, which tends to be the case for objects made out of glass or other fragile objects.
  • the collection of the objects by the robotic collection means generally tends to be selective, meaning, based on certain conditions. For example; collecting the objects that are closest to the robotic collection means; collecting only the objects that arrive in a certain orientation and/or position, or have certain characteristics; collecting the objects that are easiest to deliver to the first conveyor belt, etc.
  • the machine for positioning objects of the present invention comprises a transfer conveyor that has a plurality of transfer carriers configured to move in a closed loop through it enabling the speed and position thereof to be controlled independently, where said transfer carriers are configured to receive the objects coming from the robotic collection means and deliver said objects to the second conveyor belt.
  • the transfer carriers move on the transfer conveyor, also called an intelligent conveyor, by means of magnetic induction. Said independent carriers run in a controlled manner along the transfer conveyor, being able to be individually controlled at will by the user, regarding the position, speed, acceleration and strength thereof. Therefore, it enables a programmable sequential movement of the distinct transfer carriers.
  • the processes for collecting the objects coming from the robotic collection means and delivering them to the second conveyor belt are performed consecutively. Nevertheless, in other application cases, it is also possible to perform other intermediate operations or processes between the collection and the delivery of said objects. For example; processes of assembling, filling, blowing, closing., which can be carried out in the same transfer conveyor, as the objects are transported by the transfer carriers.
  • the length and the path of the transfer conveyor adapt in order to make room for the distinct intermediate operations of the objects before the delivery thereof on the second conveyor belt (outlet band).
  • the transfer carriers are configured to receive the objects coming from the robotic collection means in a predetermined position and deliver said objects to the second conveyor belt in a vertical position, meaning, upright or resting on the main supporting base thereof.
  • the transfer carriers are configured to work in collaboration with each other, enabling the securing of an object coming from the robotic collection means by the pressure exerted on it by two adjacent transfer carriers between which said object is arranged, and the subsequent delivery thereof to the second conveyor belt after releasing said pressure.
  • the transfer carriers are not conditioned by the geometry of the object.
  • This embodiment enables a wide variety of objects with different shapes and/or sizes to be worked with without needing to change accessories.
  • the operating sequence can be programmed and memorised for each distinct object, such that, the change from one object to another can be performed instantaneously and automatically by selecting each object format from the control panel of the machine.
  • the transfer carriers are made up of first transfer carriers and by second transfer carriers, where the first transfer carriers and the second transfer carriers are distributed in an alternating manner along the transfer conveyor.
  • each first transfer carrier comprises:
  • each second transfer carrier comprises:
  • the transfer carriers are made up of third transfer carriers, where each of them comprises a gripper configured to grip an object coming from the robotic collection means and deliver said object to the second conveyor belt.
  • This embodiment also enables a considerable variety of objects with different shapes and/or sizes to be worked with without needing to change accessories. Nevertheless, unlike the first embodiment, the transfer carriers work independently from each other. This enables the number of operations to be carried out by each of the transfer carriers during the collection and delivery of the objects to be reduced.
  • the gripper is made up of:
  • the transfer conveyor comprises one or more opening cams in a static position distributed along it, configured to come into contact with the dynamic gripper portion as the third transfer carrier passes and to cause the rotation thereof with respect to the joint. Said rotation enables the gripper to be opened in order to collect or deliver the object.
  • the transfer conveyor admits, for all the previously commented preferred embodiments, different assembly and/or location arrangements of said conveyor with respect to the first conveyor belt and the second conveyor belt. Said assembly and/or location arrangements have an influence on the space occupied by the machine, the compactness thereof and the accessibility of the components thereof.
  • the transfer conveyor is arranged in a tilted position between the first conveyor belt and the second conveyor belt. This first arrangement is very compact and offers good accessibility to the main components of the machine.
  • the transfer carriers form a tilting angle with respect to the transfer conveyor, for example, of 45° or 135° staying vertically arranged in a collection position, and horizontally in a delivery position.
  • the transfer conveyor is arranged in a vertical position between the first conveyor belt and the second conveyor belt. This second arrangement implies a lesser amount of space occupied by the machine with respect to the previous arrangement.
  • the transfer carriers can receive the objects coming from the robotic collection means in an inverted vertical position, and deliver them in the vertical position after a 180° rotation of the transfer carriers along the transfer conveyor.
  • This inverted vertical position is ideal for the application of processes for blowing and/or emptying the packaging, normally focused on the cleaning thereof.
  • the main components of the machine are at a less accessible height.
  • the transfer carriers are arranged vertically or horizontally.
  • the machine for positioning objects of the present invention can have built-in or external means of supplying the objects to be positioned. This means that the objects can arrive at the first conveyor belt from a containment or storage area for them that is integrated in the machine, or from an external location.
  • the machine For more compactness, versatility and autonomy of the machine, it preferably has built-in supply means for the objects to be positioned.
  • the machine comprises:
  • the collection of the objects by the robotic collection means can be selective, meaning, of those objects that meet certain conditions. Such that the rest of the objects must return to the processing line and/or the supply means.
  • the machine comprises a return track adjacent to a second end of the first conveyor belt, configured to receive the objects that arrive at said second end and return them to the supply bin using gravity.
  • the delivery of the objects to the second conveyor belt can be performed directly or indirectly with respect to it.
  • the objects are delivered directly to the second conveyor belt, meaning, by depositing them directly on the second conveyor belt.
  • the objects are delivered indirectly to the second conveyor belt, meaning, by depositing them onto a supporting base, also called a puck, transported by said second conveyor belt.
  • a supporting base also called a puck
  • These pucks offer a greater stability to the objects, once delivered to the second conveyor belt, which enables the delivery speed thereof to be increased and, therefore, the number of objects positioned per unit of time as well.
  • FIGS 1 - 6 show different views of the machine (1) of the present invention, according to the first aspect.
  • said machine (1) comprises:
  • the machine (1) for positioning objects of the present invention comprises a transfer conveyor (6) that has a plurality of transfer carriers (7, 7a, 7b) configured to move in a closed loop through it enabling the speed and position thereof to be controlled independently, where said transfer carriers (7, 7a, 7b) are configured to receive the objects (O) coming from the robotic collection means (4) and deliver said objects (O) to the second conveyor belt (5).
  • the machine vision means (3) comprise a machine vision camera and the robotic collection means (4) comprise two delta-type robotic arms, enabling a production capacity greater than 200 objects positioned per minute for the machine (1).
  • the transfer carriers (7, 7a, 7b) are configured to receive the objects (O) coming from the robotic collection means (4) in a horizontal position (O H ) and deliver said objects (O) to the second conveyor belt (5) in a vertical position (Ov), meaning, resting on the main supporting base thereof.
  • the transfer carriers (7, 7a, 7b) are configured to work in collaboration with each other, enabling the securing of an object (O) coming from the robotic collection means (4) by the pressure exerted on it by two adjacent transfer carriers (7, 7a, 7b) between which said object (O) is arranged, and the subsequent delivery thereof to the second conveyor belt (5) after releasing said pressure.
  • the transfer conveyor (6) is arranged in a tilted position (6 l ) between the first conveyor belt (2) and the second conveyor belt (5).
  • the transfer carriers (7, 7a, 7b) form a tilt angle ( ⁇ 7 ) with respect to the transfer conveyor (6) of 135°, being arranged vertically in a collection position (P R ), and horizontally in a delivery position (P E ), Figure 3 .
  • the transfer carriers (7, 7a, 7b) receive the objects (O) coming from the robotic collection means (4) in a horizontal position (O H ) and deliver them in a vertical position (Ov) to the second conveyor belt (5).
  • the machine (1) comprises:
  • the machine (1) comprises a return track (12) adjacent to a second end (22) of the first conveyor belt (2), configured to receive the objects (O) that arrive at said second end (22) and return them to the supply bin (10) using gravity.
  • the delivery of the objects (O) to the second conveyor belt (5) is performed directly.
  • the transfer carriers (7) are made up of first transfer carriers (7a) and by second transfer carriers (7b), where the first transfer carriers (7a) and the second transfer carriers (7b) are distributed in an alternating manner along the transfer conveyor (6).
  • Each first transfer carrier (7a) comprises:
  • Each second transfer carrier (7b) comprises:
  • Figure 7 shows a view of a machine that does not from part of the present invention, wherein the transfer conveyor (6) is arranged in a horizontal position (6 H ) between the first conveyor belt (2) and the second conveyor belt (5). In turn, the transfer carriers (7) are arranged horizontally.
  • the objects (O) are collected in a vertical position (Ov) and are delivered in a likewise vertical position (Ov).
  • Figures 8 - 10 show different views of the machine (1) of the present invention, according to the second aspect.
  • the transfer conveyor (6) is arranged in a vertical position (6v) between the first conveyor belt (2) and the second conveyor belt (5).
  • the transfer carriers (7) receive the objects (O) coming from the robotic collection means (4) in an inverted vertical position (O IN ), and deliver them in a vertical position (Ov) after a 180° rotation of the transfer carriers (7) along the transfer conveyor (6).
  • the end portion, or securing portion, of the transfer carriers (7) is arranged horizontally, Figure 9 , or vertically, Figure 10 .
  • Said method additionally comprises the following steps:
  • Steps d) and e) respectively comprise the following steps:
  • Steps d) and e) respectively comprise the following steps:
  • Step f) comprises the following steps:
  • FIG 11 is a detail view of the machine (1), according to a second embodiment of the transfer carriers (7).
  • the transfer carriers (7) are made up of third transfer carriers (7c), where each of them comprises a gripper (70c) configured to grip an object (O) coming from the robotic collection means (4) and deliver said object (O) to the second conveyor belt (5).
  • the gripper (70c) is made up of:
  • the gripper (70c) can admit multiple possible mechanical configurations.
  • the gripper (70c) can comprise one or more mobile portions in which all of them enable the function to be performed; on one hand, securing the object (O) in one point; and on the other, the releasing thereof onto the outlet conveyor belt (5).
  • the transfer conveyor (6) comprises one or more opening cams (61) in a static position, configured to come into contact with the dynamic gripper portion (72c) as the third transfer carrier (7c) passes and to cause the rotation thereof with respect to the joint (73c) in order to open the gripper (70c).
  • step f) comprises the following steps:
  • Figure 12 is a detail view of the machine (1), wherein the objects (O) are placed on supporting bases (13) or pucks when the they are delivered to the second conveyor belt (5).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Control Of Conveyors (AREA)
EP19705929.8A 2018-03-21 2019-02-04 Machine and method for positioning objects Active EP3768622B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201830276A ES2725300B2 (es) 2018-03-21 2018-03-21 Maquina y procedimiento para posicionar objetos.
PCT/EP2019/052661 WO2019179685A1 (en) 2018-03-21 2019-02-04 Machine and method for positioning objects

Publications (2)

Publication Number Publication Date
EP3768622A1 EP3768622A1 (en) 2021-01-27
EP3768622B1 true EP3768622B1 (en) 2022-04-20

Family

ID=65494096

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19705929.8A Active EP3768622B1 (en) 2018-03-21 2019-02-04 Machine and method for positioning objects

Country Status (8)

Country Link
US (1) US11273993B2 (pl)
EP (1) EP3768622B1 (pl)
CN (1) CN112041248B (pl)
CA (1) CA3093866C (pl)
ES (3) ES2725300B2 (pl)
MX (1) MX2020009781A (pl)
PL (1) PL3768622T3 (pl)
WO (1) WO2019179685A1 (pl)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3081849B1 (fr) * 2018-05-29 2021-04-16 Gebo Packaging Solutions France Transfert de produits en enserrement vers ou depuis une surface d'accumulation
ES1244195Y1 (es) 2019-11-28 2021-04-20 Posimat Sa Maquina para el posicionamiento automatico de objetos
EP4188811A1 (en) * 2020-07-28 2023-06-07 Packaging Automation Limited Improvements in and relating to packaging apparatus
JP7699131B2 (ja) * 2020-07-30 2025-06-26 株式会社京都製作所 搬送装置
ES1255327Y (es) * 2020-08-12 2021-01-19 Valles Tomas Mulet Maquina para posicionar objetos
AT524439B1 (de) * 2021-02-04 2022-06-15 Knapp Ag System zur Vereinzelung und Identifizierung von Artikeln
EP4056329B1 (en) 2021-03-09 2025-05-07 Fameccanica.Data S.p.A. Robotic unscrambler
IT202100013367A1 (it) * 2021-05-24 2022-11-24 Gd Spa Stazione e metodo di alimentazione ed orientamento di articoli, in particolare bottiglie del settore farmaceutico
DE102021129702A1 (de) * 2021-11-15 2023-05-17 Krones Aktiengesellschaft Transport von Gegenständen mit unterschiedlichen Formaten
US20240017399A1 (en) * 2022-07-12 2024-01-18 Intelligrated Headquarters, Llc Logistics robotic system

Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2620958A (en) 1948-04-12 1952-12-09 California Packing Corp Machine having divergently related bag supporting conveyer for filling such bags with discrete objects
US4660357A (en) 1984-12-28 1987-04-28 Sleever International Machine for placing sleeve around objects that are laid flat
US5261520A (en) 1992-11-04 1993-11-16 Am International, Inc. Custodial book transfer system
EP0613841A1 (en) 1993-03-05 1994-09-07 Shibuya Kogyo Co., Ltd Apparatus for aligning vessels
EP0875459A1 (de) 1997-04-30 1998-11-04 IWK Verpackungstechnik GmbH Tubenfüllmaschine
EP1281643A1 (en) 2000-03-31 2003-02-05 Jaime Marti Sala Automatic linear machine for orienting and aligning articles
EP1394082A2 (en) 2002-09-02 2004-03-03 Ishida Co., Ltd. Apparatus for transferring and orientating articles, in particular sticks
WO2007110261A1 (de) 2006-03-24 2007-10-04 Robert Bosch Gmbh Transporteinrichtung
EP1530541B1 (en) 2001-12-05 2009-07-08 IWK Verpackungstechnik GmbH Cartoning apparatus and method
US20120330457A1 (en) 2011-06-27 2012-12-27 Marc Richard Bourgeois Robotic Unscrambler and Method
EP2743192A1 (en) 2012-12-12 2014-06-18 Tetra Laval Holdings & Finance S.A. A unit for sequencing and guiding items
EP2746165A1 (en) 2012-12-24 2014-06-25 Cavanna S.p.A. Device for gripping and transferring individual products
EP2889238A1 (en) 2013-12-31 2015-07-01 Sidel S.p.a. Con Socio Unico Transfer device for transferring articles along a path
EP2998229A1 (en) 2013-05-15 2016-03-23 PFM Iberica Packaging Machinery S.A. Method for conveying in a packaging line flexible packaging held suspended, device suitable for implementing said method, and machine comprising said device
EP3045399A1 (en) 2015-01-19 2016-07-20 Cama1 S.p.A. A packaging machine with a magnetic movers conveyor
EP2920092B1 (fr) 2012-11-13 2016-08-31 Unista Machine de distribution d'objets en vrac
WO2016146213A1 (de) 2015-03-16 2016-09-22 Groninger GmbH & Co. KG VERBESSERTES TRANSPORTSYSTEM, INSBESONDERE FÜR EINE FÜLL- UND VERSCHLIEßANLAGE FÜR PHARMAZEUTISCHE ODER KOSMETISCHE OBJEKTE
EP3002222B1 (en) 2014-09-30 2017-04-12 Cavanna S.p.A. Method and system for grouping individual products into product groups and for feeding said product groups to handling means, in particular for feeding them to a packaging machine, for example of the "flow pack" type or a caser packer or the like

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19842362C2 (de) 1998-09-16 2000-09-14 Effem Gmbh Verfahren und Vorrichtung zum Öffnen vorgefertigter Beutelverpackungen
JP4529021B2 (ja) * 2000-04-14 2010-08-25 四国化工機株式会社 容器成形装置
ITBO20070362A1 (it) * 2007-05-18 2008-11-19 Marchesini Group Spa Metodo e apparecchiatura per l'alimentazione ordinata di contenitori ad una macchina automatica
DE102012210329A1 (de) * 2012-06-19 2013-12-19 Robert Bosch Gmbh Zufuhrvorrichtung
ITTO20120931A1 (it) 2012-10-23 2013-01-22 Fameccanica Data Spa Metodo e apparato per la realizzazione di un flusso continuo e ordinato di contenitori
ITTO20130054A1 (it) 2013-01-22 2014-07-23 Cavanna Spa Dispositivo per la presa ed il trasferimento di prodotti individuali
JP2014223718A (ja) * 2013-04-19 2014-12-04 花王株式会社 物品供給装置
US9643790B2 (en) * 2013-09-09 2017-05-09 Fuji Machine Mfg. Co., Ltd. Manufacturing work machine
DE102013218397B4 (de) 2013-09-13 2024-07-04 Krones Ag Vorrichtung und Verfahren zum Gruppieren von Behältern
DE102013218394B4 (de) 2013-09-13 2024-10-24 Krones Ag Vorrichtung und Verfahren zur Wartung von Transportelementen in einer Behälterbehandlungsanlage
CN104526605A (zh) * 2014-12-19 2015-04-22 重庆联合机器制造有限公司 交替夹紧的多工位夹持机构
ITUA20162626A1 (it) * 2016-04-15 2017-10-15 Sipa Progettazione Automaz Sistema di trasferimento per contenitori
US11088004B2 (en) * 2018-01-30 2021-08-10 Brooks Automation, Inc. Automatic wafer centering method and apparatus
IT202000008479A1 (it) * 2020-04-21 2021-10-21 Kosme Srl Unipersonale Dispositivo di trasporto per il trasporto di contenitori

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2620958A (en) 1948-04-12 1952-12-09 California Packing Corp Machine having divergently related bag supporting conveyer for filling such bags with discrete objects
US4660357A (en) 1984-12-28 1987-04-28 Sleever International Machine for placing sleeve around objects that are laid flat
US5261520A (en) 1992-11-04 1993-11-16 Am International, Inc. Custodial book transfer system
EP0613841A1 (en) 1993-03-05 1994-09-07 Shibuya Kogyo Co., Ltd Apparatus for aligning vessels
EP0875459A1 (de) 1997-04-30 1998-11-04 IWK Verpackungstechnik GmbH Tubenfüllmaschine
EP1281643A1 (en) 2000-03-31 2003-02-05 Jaime Marti Sala Automatic linear machine for orienting and aligning articles
EP1530541B1 (en) 2001-12-05 2009-07-08 IWK Verpackungstechnik GmbH Cartoning apparatus and method
EP1394082A2 (en) 2002-09-02 2004-03-03 Ishida Co., Ltd. Apparatus for transferring and orientating articles, in particular sticks
WO2007110261A1 (de) 2006-03-24 2007-10-04 Robert Bosch Gmbh Transporteinrichtung
US20120330457A1 (en) 2011-06-27 2012-12-27 Marc Richard Bourgeois Robotic Unscrambler and Method
EP2920092B1 (fr) 2012-11-13 2016-08-31 Unista Machine de distribution d'objets en vrac
EP2743192A1 (en) 2012-12-12 2014-06-18 Tetra Laval Holdings & Finance S.A. A unit for sequencing and guiding items
EP2746165A1 (en) 2012-12-24 2014-06-25 Cavanna S.p.A. Device for gripping and transferring individual products
EP2998229A1 (en) 2013-05-15 2016-03-23 PFM Iberica Packaging Machinery S.A. Method for conveying in a packaging line flexible packaging held suspended, device suitable for implementing said method, and machine comprising said device
EP2889238A1 (en) 2013-12-31 2015-07-01 Sidel S.p.a. Con Socio Unico Transfer device for transferring articles along a path
EP3002222B1 (en) 2014-09-30 2017-04-12 Cavanna S.p.A. Method and system for grouping individual products into product groups and for feeding said product groups to handling means, in particular for feeding them to a packaging machine, for example of the "flow pack" type or a caser packer or the like
EP3045399A1 (en) 2015-01-19 2016-07-20 Cama1 S.p.A. A packaging machine with a magnetic movers conveyor
WO2016146213A1 (de) 2015-03-16 2016-09-22 Groninger GmbH & Co. KG VERBESSERTES TRANSPORTSYSTEM, INSBESONDERE FÜR EINE FÜLL- UND VERSCHLIEßANLAGE FÜR PHARMAZEUTISCHE ODER KOSMETISCHE OBJEKTE

Also Published As

Publication number Publication date
ES2725300B2 (es) 2021-12-16
ES2923578T3 (es) 2022-09-28
ES1257215U (es) 2020-11-27
US20210009360A1 (en) 2021-01-14
CA3093866C (en) 2023-08-29
PL3768622T3 (pl) 2022-12-12
WO2019179685A1 (en) 2019-09-26
MX2020009781A (es) 2020-10-12
CN112041248B (zh) 2022-07-12
ES2725300A1 (es) 2019-09-23
CA3093866A1 (en) 2019-09-26
US11273993B2 (en) 2022-03-15
CN112041248A (zh) 2020-12-04
EP3768622A1 (en) 2021-01-27
ES1257215Y (es) 2021-02-17
ES2725300B4 (es) 2024-05-27

Similar Documents

Publication Publication Date Title
EP3768622B1 (en) Machine and method for positioning objects
US10882702B2 (en) Method and apparatus for handling piece goods moved in at least two parallel rows
EP2986446B1 (en) Pouch collection robot system and method for the assembly and collection of non-filled spouted pouches
US9969565B1 (en) Pick and place apparatus for orientation and hole healing application
EP2184233A2 (en) Apparatus for packaging articles and method for same
JP5905573B2 (ja) ロボットアンスクランブラ及び方法
EP4051594B1 (en) Plant for packaging articles to be filled and closed comprising at least two modular apparatus, and method for packaging articles
US11053082B2 (en) Method and apparatus for handling piece goods moved one after the other in at least one row
EP4183724B1 (en) Machine for positioning objects
KR100662928B1 (ko) 카톤 정립 장치
EP3816079B1 (en) Bag supply system
AU2022400992A1 (en) Method and order-picking apparatus for assembling consumable materials in the form of portions and packages
WO2023067419A1 (en) Improved industrial plant and method

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200918

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
TPAC Observations filed by third parties

Free format text: ORIGINAL CODE: EPIDOSNTIPA

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

INTG Intention to grant announced

Effective date: 20220223

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: MULET VALLES, TOMAS

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602019013896

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1485020

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220515

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: PACKFEEDER, S.L.

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20220420

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20220804 AND 20220810

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 602019013896

Country of ref document: DE

Owner name: PACKFEEDER, S.L., ES

Free format text: FORMER OWNER: MULET VALLES, TOMAS, MATADEPERA, ES

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1485020

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220420

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2923578

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20220928

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220822

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220720

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220721

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220720

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220820

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 602019013896

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

26 Opposition filed

Opponent name: POSIMAT, SA

Effective date: 20221220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230204

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220420

PLBP Opposition withdrawn

Free format text: ORIGINAL CODE: 0009264

PLBD Termination of opposition procedure: decision despatched

Free format text: ORIGINAL CODE: EPIDOSNOPC1

REG Reference to a national code

Ref country code: DE

Ref legal event code: R100

Ref document number: 602019013896

Country of ref document: DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250218

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250224

Year of fee payment: 7

Ref country code: PL

Payment date: 20250210

Year of fee payment: 7

PLBM Termination of opposition procedure: date of legal effect published

Free format text: ORIGINAL CODE: 0009276

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250224

Year of fee payment: 7

Ref country code: GB

Payment date: 20250220

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20250207

Year of fee payment: 7

27C Opposition proceedings terminated

Effective date: 20250123

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20250331

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20190204

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20190204